#include <fstream>
#include <iostream>

#include <random>

// glog
#include "glog/logging.h"

// gtsam
#include "gtsam/inference/Key.h"
#include "gtsam/inference/Symbol.h"
#include "gtsam/nonlinear/ISAM2.h"
#include "gtsam/nonlinear/NonlinearFactorGraph.h"
#include "gtsam/nonlinear/Values.h"

int main(int argc, char** argv) {
  std::random_device rd{};
  std::mt19937 gen{rd()};

  std::normal_distribution<double> normal_dist{0.0, 0.1};

  std::ofstream n_fout("/tmp/normal_dit.txt");
  for (int i = 0; i < 10000; i++) {
    n_fout << normal_dist(gen) << " " << normal_dist(gen) << " "
           << normal_dist(gen) << std::endl;
  }
  n_fout.close();
  return 0;
}